Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_GPS: use 64-bit timestamps for dataflash logs

This commit is contained in:
Peter Barker 2015-04-30 13:49:03 +10:00 committed by Andrew Tridgell
parent 9e0b5910e2
commit 4d67ccb338
2 changed files with 15 additions and 15 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
libraries/AP_GPS/AP_GPS_SBP.cpp
View File

@ -413,7 +413,7 @@ struct PACKED log_SbpLLH {
struct PACKED log_SbpHealth {
LOG_PACKET_HEADER;
uint32_t timestamp;
uint64_t time_us;
uint32_t crc_error_counter;
uint32_t last_injected_data_ms;
uint32_t last_iar_num_hypotheses;
@ -421,7 +421,7 @@ struct PACKED log_SbpHealth {
struct PACKED log_SbpRAW1 {
LOG_PACKET_HEADER;
uint32_t timestamp;
uint64_t time_us;
uint16_t msg_type;
uint16_t sender_id;
uint8_t msg_len;
@ -430,7 +430,7 @@ struct PACKED log_SbpRAW1 {
struct PACKED log_SbpRAW2 {
LOG_PACKET_HEADER;
uint32_t timestamp;
uint64_t time_us;
uint16_t msg_type;
uint8_t data2[192];
};
@ -438,11 +438,11 @@ struct PACKED log_SbpRAW2 {
static const struct LogStructure sbp_log_structures[] PROGMEM = {
{ LOG_MSG_SBPHEALTH, sizeof(log_SbpHealth),
"SBPH", "IIII", "TimeMS,CrcError,LastInject,IARhyp" },
"SBPH", "QIII", "TimeUS,CrcError,LastInject,IARhyp" },
{ LOG_MSG_SBPRAW1, sizeof(log_SbpRAW1),
"SBR1", "IHHBZ", "TimeMS,msg_type,sender_id,msg_len,d1" },
"SBR1", "QHHBZ", "TimeUS,msg_type,sender_id,msg_len,d1" },
{ LOG_MSG_SBPRAW2, sizeof(log_SbpRAW2),
"SBR2", "IHZZZ", "TimeMS,msg_type,d2,d3,d4" }
"SBR2", "QHZZZ", "TimeUS,msg_type,d2,d3,d4" }
};
void
@ -466,7 +466,7 @@ AP_GPS_SBP::logging_log_full_update()
struct log_SbpHealth pkt = {
LOG_PACKET_HEADER_INIT(LOG_MSG_SBPHEALTH),
timestamp : hal.scheduler->millis(),
time_us : hal.scheduler->micros64(),
crc_error_counter : crc_error_counter,
last_injected_data_ms : last_injected_data_ms,
last_iar_num_hypotheses : last_iar_num_hypotheses,
@ -492,11 +492,11 @@ AP_GPS_SBP::logging_log_raw_sbp(uint16_t msg_type,
logging_write_headers();
uint32_t now = hal.scheduler->millis();
uint64_t time_us = hal.scheduler->micros64();
struct log_SbpRAW1 pkt = {
LOG_PACKET_HEADER_INIT(LOG_MSG_SBPRAW1),
timestamp : now,
time_us : time_us,
msg_type : msg_type,
sender_id : sender_id,
msg_len : msg_len,
@ -508,7 +508,7 @@ AP_GPS_SBP::logging_log_raw_sbp(uint16_t msg_type,
struct log_SbpRAW2 pkt2 = {
LOG_PACKET_HEADER_INIT(LOG_MSG_SBPRAW2),
timestamp : now,
time_us : time_us,
msg_type : msg_type,
};
memcpy(pkt2.data2, &msg_buff[64], msg_len - 64);

10
libraries/AP_GPS/AP_GPS_UBLOX.cpp
View File

@ -273,7 +273,7 @@ void AP_GPS_UBLOX::log_mon_hw(void)
}
struct log_Ubx1 pkt = {
LOG_PACKET_HEADER_INIT(LOG_UBX1_MSG),
timestamp : hal.scheduler->millis(),
time_us : hal.scheduler->micros64(),
instance : state.instance,
noisePerMS : _buffer.mon_hw_60.noisePerMS,
jamInd : _buffer.mon_hw_60.jamInd,
@ -297,7 +297,7 @@ void AP_GPS_UBLOX::log_mon_hw2(void)
struct log_Ubx2 pkt = {
LOG_PACKET_HEADER_INIT(LOG_UBX2_MSG),
timestamp : hal.scheduler->millis(),
time_us : hal.scheduler->micros64(),
instance : state.instance,
ofsI : _buffer.mon_hw2.ofsI,
magI : _buffer.mon_hw2.magI,
@ -313,7 +313,7 @@ void AP_GPS_UBLOX::log_accuracy(void) {
}
struct log_Ubx3 pkt = {
LOG_PACKET_HEADER_INIT(LOG_UBX3_MSG),
timestamp : hal.scheduler->millis(),
time_us : hal.scheduler->micros64(),
instance : state.instance,
hAcc : state.horizontal_accuracy,
vAcc : state.vertical_accuracy,
@ -329,11 +329,11 @@ void AP_GPS_UBLOX::log_rxm_raw(const struct ubx_rxm_raw &raw)
if (gps._DataFlash == NULL || !gps._DataFlash->logging_started()) {
return;
}
uint32_t now = hal.scheduler->millis();
uint64_t now = hal.scheduler->micros64();
for (uint8_t i=0; i<raw.numSV; i++) {
struct log_GPS_RAW pkt = {
LOG_PACKET_HEADER_INIT(LOG_GPS_RAW_MSG),
timestamp : now,
time_us : now,
iTOW : raw.iTOW,
week : raw.week,
numSV : raw.numSV,